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https://github.com/wpilibsuite/allwpilib
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bb50f4b134
Made a toplevel directory for C++ and C++ tests Change-Id: I4bc2074a7036ec7fe79568b411637a5bee9eb5b3 Added the C++ testing framework and one test Change-Id: I1e80a1e16b251a49666820a9d4c8caa025da9785
112 lines
4.4 KiB
C++
112 lines
4.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "ErrorBase.h"
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#include <stdlib.h>
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#include "HAL/HAL.hpp"
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#include "MotorSafety.h"
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#include "MotorSafetyHelper.h"
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class SpeedController;
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class GenericHID;
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/**
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* Utility class for handling Robot drive based on a definition of the motor configuration.
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* The robot drive class handles basic driving for a robot. Currently, 2 and 4 motor standard
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* drive trains are supported. In the future other drive types like swerve and meccanum might
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* be implemented. Motor channel numbers are passed supplied on creation of the class. Those are
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* used for either the Drive function (intended for hand created drive code, such as autonomous)
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* or with the Tank/Arcade functions intended to be used for Operator Control driving.
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*/
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class RobotDrive : public MotorSafety, public ErrorBase
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{
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public:
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enum MotorType
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{
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kFrontLeftMotor = 0,
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kFrontRightMotor = 1,
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kRearLeftMotor = 2,
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kRearRightMotor = 3
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};
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RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel);
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RobotDrive(uint32_t frontLeftMotorChannel, uint32_t rearLeftMotorChannel,
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uint32_t frontRightMotorChannel, uint32_t rearRightMotorChannel);
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RobotDrive(SpeedController *leftMotor, SpeedController *rightMotor);
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RobotDrive(SpeedController &leftMotor, SpeedController &rightMotor);
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RobotDrive(SpeedController *frontLeftMotor, SpeedController *rearLeftMotor,
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SpeedController *frontRightMotor, SpeedController *rearRightMotor);
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RobotDrive(SpeedController &frontLeftMotor, SpeedController &rearLeftMotor,
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SpeedController &frontRightMotor, SpeedController &rearRightMotor);
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virtual ~RobotDrive();
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void Drive(float outputMagnitude, float curve);
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void TankDrive(GenericHID *leftStick, GenericHID *rightStick, bool squaredInputs = true);
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void TankDrive(GenericHID &leftStick, GenericHID &rightStick, bool squaredInputs = true);
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void TankDrive(GenericHID *leftStick, uint32_t leftAxis, GenericHID *rightStick,
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uint32_t rightAxis, bool squaredInputs = true);
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void TankDrive(GenericHID &leftStick, uint32_t leftAxis, GenericHID &rightStick,
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uint32_t rightAxis, bool squaredInputs = true);
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void TankDrive(float leftValue, float rightValue, bool squaredInputs = true);
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void ArcadeDrive(GenericHID *stick, bool squaredInputs = true);
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void ArcadeDrive(GenericHID &stick, bool squaredInputs = true);
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void ArcadeDrive(GenericHID *moveStick, uint32_t moveChannel, GenericHID *rotateStick,
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uint32_t rotateChannel, bool squaredInputs = true);
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void ArcadeDrive(GenericHID &moveStick, uint32_t moveChannel, GenericHID &rotateStick,
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uint32_t rotateChannel, bool squaredInputs = true);
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void ArcadeDrive(float moveValue, float rotateValue, bool squaredInputs = true);
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void MecanumDrive_Cartesian(float x, float y, float rotation, float gyroAngle = 0.0);
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void MecanumDrive_Polar(float magnitude, float direction, float rotation);
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void HolonomicDrive(float magnitude, float direction, float rotation);
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virtual void SetLeftRightMotorOutputs(float leftOutput, float rightOutput);
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void SetInvertedMotor(MotorType motor, bool isInverted);
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void SetSensitivity(float sensitivity);
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void SetMaxOutput(double maxOutput);
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void SetExpiration(float timeout);
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float GetExpiration();
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bool IsAlive();
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void StopMotor();
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bool IsSafetyEnabled();
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void SetSafetyEnabled(bool enabled);
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void GetDescription(char *desc);
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protected:
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void InitRobotDrive();
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float Limit(float num);
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void Normalize(double *wheelSpeeds);
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void RotateVector(double &x, double &y, double angle);
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static const int32_t kMaxNumberOfMotors = 4;
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int32_t m_invertedMotors[kMaxNumberOfMotors];
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float m_sensitivity;
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double m_maxOutput;
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bool m_deleteSpeedControllers;
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SpeedController *m_frontLeftMotor;
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SpeedController *m_frontRightMotor;
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SpeedController *m_rearLeftMotor;
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SpeedController *m_rearRightMotor;
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MotorSafetyHelper *m_safetyHelper;
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private:
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int32_t GetNumMotors()
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{
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int motors = 0;
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if (m_frontLeftMotor)
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motors++;
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if (m_frontRightMotor)
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motors++;
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if (m_rearLeftMotor)
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motors++;
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if (m_rearRightMotor)
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motors++;
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return motors;
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}
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DISALLOW_COPY_AND_ASSIGN(RobotDrive);
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};
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